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Underwater Mobile Robotics

Underwater Mobile Robotics. James J. Holloway Charles G. Reynolds. Power. Lead –acid = low power Silver Zinc = double power, high cost Fuel Cells = high amounts of power, but High maintenance and produce waste products. Lead –acid = low power Silver Zinc = double power, high cost

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Underwater Mobile Robotics

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  1. Underwater Mobile Robotics James J. Holloway Charles G. Reynolds

  2. Power Lead –acid = low power Silver Zinc = double power, high cost Fuel Cells = high amounts of power, but High maintenance and produce waste products • Lead –acid = low power • Silver Zinc = double power, high cost • Fuel Cells = high amounts of power, but • High maintenance and produce waste • products Power Relationship Power Relationship R = Range (meters) E = Energy available (Joules) Kd = Effective drag coefficient (S³/m³) u= speed (m/s)

  3. . Dynamics • Global Coordinate System • Vehicle Coordinate System

  4. Navigation and Sensors

  5. Pressure Hulls Single Sphere Cylinder

  6. Pressure Hulls Saucer Shaped Egg Shaped

  7. Pressure Hulls

  8. AUV Applications • Scientists • Industries • Inventors • Military

  9. Future AUV Applications • Much faster response time • Decreases human safety risk • May be manufactured to be task specific

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